Help with 3D lidar setup with Michael px4

Hi all, this is my first post in a forum so please be gentle.

I would like to add a lidar hls lfcd2 laser distance sensor to my pixhawk 2.4.8 flight controller. I have tested this lidar with arduino and it works fine but can’t seem to get it set up in a ground control using a mac.

Any advice is welcome.

The drone is a 350 quad copter with the lidar on a servo for up and down angles as it sound for the 3d ranging via pwm. Also got lifting landing gear so the legs don’t interrupt with the range finder.